Hugging Face's logo

Datasets:
maujim
/
breadOnJig

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk
Libraries:
Datasets
Dataset card Data Studio Files
xet
Community
1
maujim commited on
Commit
c4af532
·
verified ·
1 Parent(s): 32f4b9f

Upload folder using huggingface_hub

Browse files
Files changed (8) hide show
  1. README.md +15 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. meta/episodes.jsonl +1 -0
  4. meta/info.json +121 -0
  5. meta/stats.json +371 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # breadOnJig
12
+
13
+ **This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).**
14
+
15
+ This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:330995d6876dfaa8ef2238ec0ee272113d5e8b1de6cb711fdba684c9ab7186e8
3
+ size 30434
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["breadOnJig"],"length":515}
meta/info.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 515,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "motor_1",
24
+ "motor_2",
25
+ "motor_3",
26
+ "motor_4",
27
+ "motor_5",
28
+ "motor_6"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "motor_1",
38
+ "motor_2",
39
+ "motor_3",
40
+ "motor_4",
41
+ "motor_5",
42
+ "motor_6"
43
+ ]
44
+ },
45
+ "timestamp": {
46
+ "dtype": "float32",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "names": null
51
+ },
52
+ "episode_index": {
53
+ "dtype": "int64",
54
+ "shape": [
55
+ 1
56
+ ],
57
+ "names": null
58
+ },
59
+ "frame_index": {
60
+ "dtype": "int64",
61
+ "shape": [
62
+ 1
63
+ ],
64
+ "names": null
65
+ },
66
+ "task_index": {
67
+ "dtype": "int64",
68
+ "shape": [
69
+ 1
70
+ ],
71
+ "names": null
72
+ },
73
+ "index": {
74
+ "dtype": "int64",
75
+ "shape": [
76
+ 1
77
+ ],
78
+ "names": null
79
+ },
80
+ "observation.images.main": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 240,
84
+ 320,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channel"
91
+ ],
92
+ "info": {
93
+ "video.fps": 30,
94
+ "video.codec": "avc1",
95
+ "video.pix_fmt": "yuv420p",
96
+ "video.is_depth_map": false,
97
+ "has_audio": false
98
+ }
99
+ },
100
+ "observation.images.secondary_0": {
101
+ "dtype": "video",
102
+ "shape": [
103
+ 240,
104
+ 320,
105
+ 3
106
+ ],
107
+ "names": [
108
+ "height",
109
+ "width",
110
+ "channel"
111
+ ],
112
+ "info": {
113
+ "video.fps": 30,
114
+ "video.codec": "avc1",
115
+ "video.pix_fmt": "yuv420p",
116
+ "video.is_depth_map": false,
117
+ "has_audio": false
118
+ }
119
+ }
120
+ }
121
+ }
meta/stats.json ADDED
@@ -0,0 +1,371 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ 0.1641760263414445,
5
+ 0.3467643173193132,
6
+ 1.4000000000000008,
7
+ 0.8761169256164946,
8
+ 1.6095388003007056,
9
+ 0.7334218746842109
10
+ ],
11
+ "min": [
12
+ -0.5278182529108131,
13
+ -1.570800000000001,
14
+ 0.8055365778435363,
15
+ -0.9942622903668802,
16
+ -0.0797864800911694,
17
+ -0.20999999999999985
18
+ ],
19
+ "mean": [
20
+ -0.25446166833856276,
21
+ -0.76377700099522,
22
+ 1.1823306554639337,
23
+ -0.20800496243633462,
24
+ 1.409589948475514,
25
+ 0.2565952705610307
26
+ ],
27
+ "std": [
28
+ 0.24278712337301875,
29
+ 0.6517237828412393,
30
+ 0.19738533586303647,
31
+ 0.5522495914105919,
32
+ 0.3809659036160019,
33
+ 0.4172071227181477
34
+ ],
35
+ "sum": [
36
+ -131.04775919435983,
37
+ -393.34515551253827,
38
+ 608.9002875639259,
39
+ -107.12255565471233,
40
+ 725.9388234648898,
41
+ 132.1465643389308
42
+ ],
43
+ "square_sum": [
44
+ 63.703608883635916,
45
+ 519.1710861306258,
46
+ 739.9863760767224,
47
+ 179.34652293982296,
48
+ 1098.020603918997,
49
+ 123.5500018023377
50
+ ],
51
+ "count": 515
52
+ },
53
+ "action": {
54
+ "max": [
55
+ 0.1641760263414445,
56
+ 0.3467643173193132,
57
+ 1.4000000000000008,
58
+ 0.8761169256164946,
59
+ 1.6095388003007056,
60
+ 0.7334218746842109
61
+ ],
62
+ "min": [
63
+ -0.5278182529108131,
64
+ -1.570800000000001,
65
+ 0.8055365778435363,
66
+ -0.9942622903668802,
67
+ -0.0797864800911694,
68
+ -0.20999999999999985
69
+ ],
70
+ "mean": [
71
+ -0.25446166833856276,
72
+ -0.76377700099522,
73
+ 1.1823306554639337,
74
+ -0.20800496243633462,
75
+ 1.409589948475514,
76
+ 0.2565952705610307
77
+ ],
78
+ "std": [
79
+ 0.24278712337301875,
80
+ 0.6517237828412393,
81
+ 0.19738533586303647,
82
+ 0.5522495914105919,
83
+ 0.3809659036160019,
84
+ 0.4172071227181477
85
+ ],
86
+ "sum": [
87
+ -131.04775919435983,
88
+ -393.34515551253827,
89
+ 608.9002875639259,
90
+ -107.12255565471233,
91
+ 725.9388234648898,
92
+ 132.1465643389308
93
+ ],
94
+ "square_sum": [
95
+ 63.703608883635916,
96
+ 519.1710861306258,
97
+ 739.9863760767224,
98
+ 179.34652293982296,
99
+ 1098.020603918997,
100
+ 123.5500018023377
101
+ ],
102
+ "count": 515
103
+ },
104
+ "timestamp": {
105
+ "max": [
106
+ 30.60601454199059
107
+ ],
108
+ "min": [
109
+ 0.042806874960660934
110
+ ],
111
+ "mean": [
112
+ 15.338443236940007
113
+ ],
114
+ "std": [
115
+ 8.844095897713926
116
+ ],
117
+ "sum": [
118
+ 7899.298267024104
119
+ ],
120
+ "square_sum": [
121
+ 161445.22468810732
122
+ ],
123
+ "count": 515
124
+ },
125
+ "frame_index": {
126
+ "max": [
127
+ 514
128
+ ],
129
+ "min": [
130
+ 0
131
+ ],
132
+ "mean": [
133
+ 257.0
134
+ ],
135
+ "std": [
136
+ 148.6674140489435
137
+ ],
138
+ "sum": [
139
+ 132355
140
+ ],
141
+ "square_sum": [
142
+ 45397765
143
+ ],
144
+ "count": 515
145
+ },
146
+ "episode_index": {
147
+ "max": [
148
+ 0
149
+ ],
150
+ "min": [
151
+ 0
152
+ ],
153
+ "mean": [
154
+ 0.0
155
+ ],
156
+ "std": [
157
+ 0.0
158
+ ],
159
+ "sum": [
160
+ 0
161
+ ],
162
+ "square_sum": [
163
+ 0
164
+ ],
165
+ "count": 515
166
+ },
167
+ "index": {
168
+ "max": [
169
+ 514
170
+ ],
171
+ "min": [
172
+ 0
173
+ ],
174
+ "mean": [
175
+ 257.0
176
+ ],
177
+ "std": [
178
+ 148.6674140489435
179
+ ],
180
+ "sum": [
181
+ 132355
182
+ ],
183
+ "square_sum": [
184
+ 45397765
185
+ ],
186
+ "count": 515
187
+ },
188
+ "task_index": {
189
+ "max": [
190
+ 0
191
+ ],
192
+ "min": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": [
199
+ 0.0
200
+ ],
201
+ "sum": [
202
+ 0
203
+ ],
204
+ "square_sum": [
205
+ 0
206
+ ],
207
+ "count": 515
208
+ },
209
+ "observation.images.main": {
210
+ "max": [
211
+ [
212
+ [
213
+ 1.0
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 1.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "min": [
228
+ [
229
+ [
230
+ 0.0
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.0
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.0
241
+ ]
242
+ ]
243
+ ],
244
+ "mean": [
245
+ [
246
+ [
247
+ 0.4895604267799353
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.47573503236245956
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.4487892394822007
258
+ ]
259
+ ]
260
+ ],
261
+ "std": [
262
+ [
263
+ [
264
+ 0.2830815693371109
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.2726678392935832
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.2875430537579897
275
+ ]
276
+ ]
277
+ ],
278
+ "sum": [
279
+ 19363094.0,
280
+ 18816272.0,
281
+ 17750512.0
282
+ ],
283
+ "square_sum": [
284
+ 12648911.0,
285
+ 11892162.0,
286
+ 11236438.0
287
+ ],
288
+ "count": 39552000
289
+ },
290
+ "observation.images.secondary_0": {
291
+ "max": [
292
+ [
293
+ [
294
+ 1.0
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 1.0
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 1.0
305
+ ]
306
+ ]
307
+ ],
308
+ "min": [
309
+ [
310
+ [
311
+ 0.0
312
+ ]
313
+ ],
314
+ [
315
+ [
316
+ 0.0
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.0
322
+ ]
323
+ ]
324
+ ],
325
+ "mean": [
326
+ [
327
+ [
328
+ 0.5151672734627831
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 0.5377229470064725
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.5380771136731392
339
+ ]
340
+ ]
341
+ ],
342
+ "std": [
343
+ [
344
+ [
345
+ 0.30737287597259844
346
+ ]
347
+ ],
348
+ [
349
+ [
350
+ 0.301912210935876
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.30396283166542576
356
+ ]
357
+ ]
358
+ ],
359
+ "sum": [
360
+ 20375896.0,
361
+ 21268018.0,
362
+ 21282026.0
363
+ ],
364
+ "square_sum": [
365
+ 14233792.0,
366
+ 15041505.0,
367
+ 15105715.0
368
+ ],
369
+ "count": 39552000
370
+ }
371
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"breadOnJig"}
videos/chunk-000/observation.images.main/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:989e79fab7ce28eb9245203404399f5bef5aed1b4b42da792a9cdfc84889c95d
3
+ size 354177
videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:af6268f296ba4f86ef4e5581e3aa50849be93b9a224a5c2ab714d73a8669b3df
3
+ size 154522